X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=1cf9d8d49fc42608ca1db0b1a0ed69873a95e4ef;hp=50cde9f5af3b10b75281767562a0924bd14747c5;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=5423512c8fb51feb2fa1348a9dc2b606dc7af377

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 50cde9f..1cf9d8d 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -12,9 +12,9 @@ from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from dynamic_reconfigure.server import Server
 from sensor_msgs.msg import Imu, Range
 from wild_thumper.msg import LedStripe
-from dynamic_reconfigure.server import Server
 from wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
@@ -31,7 +31,7 @@ class LPD8806:
 		self.update()
 	
 	def set(self, i, red=0, green=0, blue=0):
-		if red > 127 or green > 127 or blue >> 127 or red < 0 or green < 0 or blue < 0:
+		if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
 			raise Exception("Bad RGB Value")
 		self.l[i] = (red, green, blue)
 
@@ -96,16 +96,19 @@ class MoveBase:
 				ir_count+=1
 			else:
 				self.get_dist_right()
-				ir_count+=1
+				ir_count=0
 
 			if sonar_count == 0:
 				self.get_dist_forward_left()
-				sonar_count=0
+				self.update_dist_backward()
+				sonar_count+=1
 			elif sonar_count == 1:
 				self.get_dist_backward()
+				self.update_dist_forward_right()
 				sonar_count+=1
 			elif sonar_count == 2:
 				self.get_dist_forward_right()
+				self.update_dist_forward_left()
 				sonar_count=0
 
 			if self.cmd_vel != None:
@@ -234,9 +237,9 @@ class MoveBase:
 		odom.pose.pose.orientation.w = odom_quat[3]
 		odom.pose.covariance[0] = self.odom_covar_xy # x
 		odom.pose.covariance[7] = self.odom_covar_xy # y
-		odom.pose.covariance[14] = 99999 # z
-		odom.pose.covariance[21] = 99999 # rotation about X axis
-		odom.pose.covariance[28] = 99999 # rotation about Y axis
+		odom.pose.covariance[14] = self.odom_covar_xy # z
+		odom.pose.covariance[21] = self.odom_covar_angle # rotation about X axis
+		odom.pose.covariance[28] = self.odom_covar_angle # rotation about Y axis
 		odom.pose.covariance[35] = self.odom_covar_angle # rotation about Z axis
 
 		# set the velocity
@@ -255,7 +258,7 @@ class MoveBase:
 
 	def cmdVelReceived(self, msg):
 		if not self.bMotorManual:
-			rospy.logdebug("Set new cmd_vel:", msg.linear.x, msg.angular.z)
+			rospy.logdebug("Set new cmd_vel: %.2f %.2f", msg.linear.x, msg.angular.z)
 			self.cmd_vel = (msg.linear.x, msg.angular.z) # commit speed on next update cycle
 			rospy.logdebug("Set new cmd_vel done")
 
@@ -312,20 +315,29 @@ class MoveBase:
 	def get_dist_forward_left(self):
 		if self.pub_range_fwd_left.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x15)
-			self.send_range(self.pub_range_fwd, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-			self.start_dist_srf(0x5) # get next value
+			self.send_range(self.pub_range_fwd_left, "sonar_forward_left", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+
+	def update_dist_forward_left(self):
+		if self.pub_range_fwd_left.get_num_connections() > 0:
+			self.start_dist_srf(0x5)
 
 	def get_dist_backward(self):
 		if self.pub_range_bwd.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x17)
 			self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-			self.start_dist_srf(0x7) # get next value
+
+	def update_dist_backward(self):
+		if self.pub_range_bwd.get_num_connections() > 0:
+			self.start_dist_srf(0x7)
 
 	def get_dist_forward_right(self):
 		if self.pub_range_fwd_right.get_num_connections() > 0:
 			dist = self.read_dist_srf(0x19)
-			self.send_range(self.pub_range_fwd, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
-			self.start_dist_srf(0x9) # get next value
+			self.send_range(self.pub_range_fwd_right, "sonar_forward_right", Range.ULTRASOUND, dist, 0.04, self.range_sensor_max, 30)
+
+	def update_dist_forward_right(self):
+		if self.pub_range_fwd_right.get_num_connections() > 0:
+			self.start_dist_srf(0xb)
 	
 	def led_stripe_received(self, msg):
 		for led in msg.leds: